Lyceum: An efficient and scalable ecosystem for robot learningDownload PDF

25 Sep 2019 (modified: 24 Dec 2019)ICLR 2020 Conference Withdrawn SubmissionReaders: Everyone
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  • TL;DR: A high performance robotics simulation and algorithm development framework.
  • Abstract: We introduce Lyceum, a high-performance computational ecosystem for robotlearning. Lyceum is built on top of the Julia programming language and theMuJoCo physics simulator, combining the ease-of-use of a high-level program-ming language with the performance of native C. Lyceum is up to 10-20Xfaster compared to other popular abstractions like OpenAI’sGymand Deep-Mind’sdm-control. This substantially reduces training time for various re-inforcement learning algorithms; and is also fast enough to support real-timemodel predictive control with physics simulators. Lyceum has a straightfor-ward API and supports parallel computation across multiple cores or machines.The code base, tutorials, and demonstration videos can be found at:
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  • Keywords: Robotics, RL, Julia
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